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Head-navigated locomotion of a snake-like robot for its autonomous obstacle avoidance
Wu XD(吴小东); Ma SG(马书根)
Department机器人学研究室
Conference NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Conference DateOctober 18-22, 2010
Conference PlaceTaipei, Taiwan
Source PublicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
PublisherIEEE Computer Society
Publication PlacePiscataway, NJ, USA
2010
Pages401-406
Indexed ByEI ; CPCI(ISTP)
EI Accession number20110313602752
WOS IDWOS:000287672000135
Contribution Rank2
ISSN2153-0858
ISBN978-1-4244-6675-7
AbstractInspired from the natural motion of snakes, a head-navigated locomotion is proposed for snake-like robots in this paper. Different from the traditional serpentine motion, the head of the snake-like robot would always maintain its direction along the forward direction of the whole robot. By utilizing this particular characteristic, the obstacles in front of the undulatory motion could be detected conveniently by a distance sensor installed on the head module. Based on the analysis of the configuration of the snake-like robot in the head-navigated locomotion, CPG-based control is introduced for the control system. Two kinds of control strategies for the realization of the automatic obstacle avoidance are proposed. Both simulation and experiment have been carried out to verify the proposed motion pattern.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/20061
Collection机器人学研究室
Corresponding AuthorWu XD(吴小东)
Affiliation1.Department of Robotics, Ritsumeikan University, 525-8577 Shiga, Japan
2.Shenyang Institute of Automation, CAS, China
Recommended Citation
GB/T 7714
Wu XD,Ma SG. Head-navigated locomotion of a snake-like robot for its autonomous obstacle avoidance[C]. Piscataway, NJ, USA:IEEE Computer Society,2010:401-406.
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